Glider dive log

DavisStrait Sep12 * SG193 * Dive index * Mission links * Dive 309 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 193 HD_B 0.0099999998 PITCH_ADJ_GAIN 0 ALTIM_TOP_PING_RANGE 0

MISSION 2 HD_C 6.0000002e-06 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 0

DIVE 309 HEADING -1 ROLL_MIN 300 ALTIM_TOP_TURN_MARGIN 0

N_DIVES 0 ESCAPE_HEADING 0 ROLL_MAX 3841 ALTIM_TOP_MIN_OBSTACLE 1

D_SURF 3 ESCAPE_HEADING_DELTA 10 ROLL_DEG 40 ALTIM_PING_DEPTH 0

D_FLARE 3 FIX_MISSING_TIMEOUT 0.5 C_ROLL_DIVE 2120 ALTIM_PING_DELTA 10

D_TGT 990 TGT_DEFAULT_LAT 6000 C_ROLL_CLIMB 2150 ALTIM_FREQUENCY 13

D_ABORT 1015 TGT_DEFAULT_LON -5500 HEAD_ERRBAND 360 ALTIM_PULSE 5

D_NO_BLEED 200 TGT_AUTO_DEFAULT 0 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 1

D_BOOST 100 SM_CC 290 ROLL_TIMEOUT 15 XPDR_VALID 6

T_BOOST 0 N_FILEKB 8 R_PORT_OVSHOOT 14 XPDR_INHIBIT 90

D_FINISH 0 FILEMGR 0 R_STBD_OVSHOOT 15 INT_PRESSURE_SLOPE 0.0097660003

D_PITCH 0 CALL_NDIVES 1 ROLL_AD_RATE 20 INT_PRESSURE_YINT 0.93000001

D_SAFE 0 COMM_SEQ 0 ROLL_MAXERRORS 200 DEEPGLIDER 0

D_CALL 0 PROTOCOL 9 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

SURFACE_URGENCY 0 N_NOCOMM 1 ROLL_ADJ_DBAND 1 MOTHERBOARD 4

SURFACE_URGENCY_TRY 0 NOCOMM_ACTION 161 VBD_MIN 500 DEVICE1 2

SURFACE_URGENCY_FORCE 0 N_NOSURFACE 0 VBD_MAX 3960 DEVICE2 20

T_DIVE 370 UPLOAD_DIVES_MAX -1 C_VBD 2772 DEVICE3 -1

T_MISSION 420 CALL_TRIES 5 VBD_DBAND 2 DEVICE4 -1

T_ABORT 1440 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_TURN 225 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_TURN_SAMPINT 5 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_NO_W 120 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_LOITER 0 T_GPS 5 VBD_PUMP_AD_RATE_APOGEE 3 LOGGERDEVICE2 -1

T_EPIRB 0 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

USE_BATHY -2 T_GPS_ALMANAC 0 UNCOM_BLEED 20 LOGGERDEVICE4 -1

USE_ICE 0 T_GPS_CHARGE -1651.6052 VBD_MAXERRORS 1 COMPASS_DEVICE 97

ICE_FREEZE_MARGIN 0.30000001 T_RSLEEP 3 CF8_MAXERRORS 20 COMPASS2_DEVICE -1

D_OFFGRID 100 STROBE 0 AH0_24V 350 PHONE_DEVICE 49

T_WATCHDOG 10 RAFOS_PEAK_OFFSET 1.5 AH0_10V 0 GPS_DEVICE 32

RELAUNCH 1 RAFOS_CORR_THRESH 60 MINV_24V 12 RAFOS_DEVICE 32

APOGEE_PITCH -5 RAFOS_HIT_WINDOW 3600 MINV_10V 12 XPDR_DEVICE 24

MAX_BUOY 140 PITCH_MIN 149 FG_AHR_10V 0 SIM_W 0

COURSE_BIAS 0 PITCH_MAX 3928 FG_AHR_24V 0 SIM_PITCH 0

GLIDE_SLOPE 50 C_PITCH 2680 PHONE_SUPPLY -2 SEABIRD_T_G 0.0043053469

SPEED_FACTOR 1 PITCH_DBAND 0.1 PRESSURE_YINT -48.048229 SEABIRD_T_H 0.00061871461

RHO 1.023 PITCH_CNV 0.0046000001 PRESSURE_SLOPE 0.0001163556 SEABIRD_T_I 2.1533233e-05

MASS 52000 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.1546668e-06

NAV_MODE 2 PITCH_GAIN 13 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8788214

FERRY_MAX 45 PITCH_TIMEOUT 15 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1391871

KALMAN_USE 2 PITCH_AD_RATE 175 COMPASS_USE 4 SEABIRD_C_I -0.0018439521

HD_A 0.0043000001 PITCH_MAXERRORS 1 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00022276744

AD7714Ch0Gain 128 D_NO_BLEED 200 N_NOSURFACE 0 SIM_PITCH 0

AH0_10V 0 D_OFFGRID 100 PHONE_DEVICE 49 SIM_W 0

AH0_24V 350 D_PITCH 0 PHONE_SUPPLY -2 SM_CC 290

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 0 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_TURN_MARGIN 0 D_SURF 3 PITCH_ADJ_GAIN 0 STROBE 0

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_AD_RATE 175 SURFACE_URGENCY 0

ALTIM_PING_DELTA 10 ESCAPE_HEADING 0 PITCH_CNV 0.0046000001 SURFACE_URGENCY_FORCE 0

ALTIM_PING_DEPTH 0 ESCAPE_HEADING_DELTA 10 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 0

ALTIM_PULSE 5 FERRY_MAX 45 PITCH_GAIN 13 TCM_PITCH_OFFSET 0

ALTIM_SENSITIVITY 1 FG_AHR_10V 0 PITCH_MAX 3928 TCM_ROLL_OFFSET 0

ALTIM_TOP_MIN_OBSTACLE 1 FG_AHR_24V 0 PITCH_MAXERRORS 1 TGT_AUTO_DEFAULT 0

ALTIM_TOP_PING_RANGE 0 FILEMGR 0 PITCH_MIN 149 TGT_DEFAULT_LAT 6000

ALTIM_TOP_TURN_MARGIN 0 FIX_MISSING_TIMEOUT 0.5 PITCH_TIMEOUT 15 TGT_DEFAULT_LON -5500

APOGEE_PITCH -5 GLIDE_SLOPE 50 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_SLOPE 0.0001163556 T_BOOST 0

CALL_TRIES 5 HD_A 0.0043000001 PRESSURE_YINT -48.048229 T_DIVE 370

CALL_WAIT 60 HD_B 0.0099999998 PROTOCOL 9 T_EPIRB 0

CAPMAXSIZE 100000 HD_C 6.0000002e-06 P_OVSHOOT 0.039999999 T_GPS 5

CAPUPLOAD 0 HEADING -1 RAFOS_CORR_THRESH 60 T_GPS_ALMANAC 0

CF8_MAXERRORS 20 HEAD_ERRBAND 360 RAFOS_DEVICE 32 T_GPS_CHARGE -1651.6052

COMM_SEQ 0 HEAPDBG 0 RAFOS_HIT_WINDOW 3600 T_LOITER 0

COMPASS2_DEVICE -1 ICE_FREEZE_MARGIN 0.30000001 RAFOS_PEAK_OFFSET 1.5 T_MISSION 420

COMPASS_DEVICE 97 ID 193 RELAUNCH 1 T_NO_W 120

COMPASS_USE 4 INT_PRESSURE_SLOPE 0.0097660003 RHO 1.023 T_RSLEEP 3

COURSE_BIAS 0 INT_PRESSURE_YINT 0.93000001 ROLL_ADJ_DBAND 1 T_TURN 225

C_PITCH 2680 KALMAN_USE 2 ROLL_ADJ_GAIN 0 T_TURN_SAMPINT 5

C_ROLL_CLIMB 2150 LOGGERDEVICE1 -1 ROLL_AD_RATE 20 T_WATCHDOG 10

C_ROLL_DIVE 2120 LOGGERDEVICE2 -1 ROLL_CNV 0.028270001 UNCOM_BLEED 20

C_VBD 2772 LOGGERDEVICE3 -1 ROLL_DEG 40 UPLOAD_DIVES_MAX -1

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAX 3841 USE_BATHY -2

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MAXERRORS 200 USE_ICE 0

DEVICE1 2 MASS 52000 ROLL_MIN 300 VBD_BLEED_AD_RATE 8

DEVICE2 20 MAX_BUOY 140 ROLL_TIMEOUT 15 VBD_CNV -0.24529999

DEVICE3 -1 MINV_10V 12 R_PORT_OVSHOOT 14 VBD_DBAND 2

DEVICE4 -1 MINV_24V 12 R_STBD_OVSHOOT 15 VBD_MAX 3960

DEVICE5 -1 MISSION 2 SEABIRD_C_G -9.8788214 VBD_MAXERRORS 1

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_H 1.1391871 VBD_MIN 500

DIVE 309 NAV_MODE 2 SEABIRD_C_I -0.0018439521 VBD_PUMP_AD_RATE_APOGEE 3

D_ABORT 1015 NOCOMM_ACTION 161 SEABIRD_C_J 0.00022276744 VBD_PUMP_AD_RATE_SURFACE 5

D_BOOST 100 N_DIVES 0 SEABIRD_T_G 0.0043053469 VBD_TIMEOUT 720

D_CALL 0 N_FILEKB 8 SEABIRD_T_H 0.00061871461 XPDR_DEVICE 24

D_FINISH 0 N_GPS 20 SEABIRD_T_I 2.1533233e-05 XPDR_INHIBIT 90

D_FLARE 3 N_NOCOMM 1 SEABIRD_T_J 2.1546668e-06 XPDR_VALID 6

Pre-dive calculations and measurements:

GPS1 011112,232522,6636.873,-5949.250,34,0.9,35,-33.7 TGT_NAME TARGET_E

_CALLS 1 TGT_LATLONG 6703.000,-5648.000

_XMS_NAKs 0 TGT_RADIUS 2000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 3.37 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo -66.2 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 011112,233451,6636.809,-5949.097,8,0.9,8,-33.7 MHEAD_RNG_PITCHd_Wd 58.3,139484,-17.3,-8.919,-19.96

SPEED_LIMITS 0.075,0.246 D_GRID 709

Post-dive calculations and measurements:

FINISH 2.5,1.025756 _24V_AH 12.4,99.494

SM_CCo 13615,25.08,0.200,0,0,1588,290.19 _10V_AH 12.7,0.000

SM_GC 3.66,8.70,14.85,25.08,0.107,0.077,0.200,132,2017,1588,-11.62,-2.91,290.19,0,0,6,1,0,0,14.59,14.58,14.40 FG_AHR_24Vo 0.000

RAFOS_CLK 604 FG_AHR_10Vo 0.000

RAFOS 0,1351814461,0.033333,0.016944,58,55,54,54,53,50,162,195,122,211,223,142 MEM 188732

RAFOS_FIX 6648.400879,-5948.140625,021112,000022,3,96,5.23 DATA_FILE_SIZE 50097,1117

IRIDIUM_FIX 6614.97,-5945.00,011112,191921 CAP_FILE_SIZE 103705,32

TT8_MAMPS 0.025466,0.025466 CFSIZE 259252224,229539840

HUMID 46.69 ERRORS 0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0

INTERNAL_PRESSURE 8.67444 SOUNDSPEED 1451.3

TCM_TEMP 12.50 CURRENT 0.002, 37.4,1

XPDR_PINGS 4 GPS 021112,032459,6636.953,-5949.373,52,1.1,53,-33.7

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 22 445 123.53 SBE_CT 818 23 243.14

Roll_motor 59 78 57.47 SBE_O2 792 3 36.76

VBD_pump_during_apogee 377 2528 11846.06 nil 0 0 0.00

VBD_pump_during_surface 25 199 62.08 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 339 164 693.38 nil 0 0 0.00

Transponder_ping 1 420 5.21 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 9 21 2.75

TT8 2782 14 528.56

LPSleep 8335 2 244.54

TT8_Active 569 14 108.11

TT8_Sampling 1922 33 822.60

TT8_CF8 576 38 279.60

TT8_Kalman 0 0 0.00

Analog_circuits 1783 12 271.82

GPS_charging 0 0 0.00

Compass 1645 6 140.81

RAFOS 2520 1 48.01

Transponder 0 5 0.03

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors pitch_volts roll_volts vbd_volts

12 end surface: CONTROL_FINISHED_OK

state 13 begin dive

19 -1.50 -136.9 0.0 0.0 0 26 0.00 0.00 -5.50 0.000 2 0.000 0.000 122 2039 1683 0 0 0 0 0 0 28.83 28.83 28.83

32 -1.50 -136.9 3.4 0.0 1 151 11.25 0.00 -104.10 0.000 6 0.445 0.000 2347 2017 3330 0 0 0 0 0 0 14.15 28.83 14.72

466 -1.50 -136.9 58.0 -15.2 81 473 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

788 -1.50 -136.9 104.8 -14.2 140 794 0.00 0.00 0.00 0.000 6 0.000 0.000 2348 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

1102 -1.50 -136.9 148.2 -14.5 171 1108 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

1415 -1.50 -136.9 190.3 -13.9 202 1420 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

1726 -1.50 -136.9 230.4 -12.8 233 1732 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

2032 -1.50 -136.9 267.7 -12.0 264 2038 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

2348 -1.50 -136.9 304.3 -11.9 295 2353 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

2654 -1.50 -136.9 339.8 -11.1 326 2660 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

2971 -1.50 -136.9 373.5 -11.5 357 2977 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

3298 -1.50 -136.9 409.7 -10.5 384 3299 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

3598 -1.50 -136.9 441.1 -10.4 394 3599 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

3898 -1.50 -136.9 473.4 -10.6 404 3900 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3331 0 0 0 0 0 0 28.83 28.83 28.83

4198 -1.50 -136.9 503.0 -9.6 414 4199 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

4498 -1.50 -136.9 532.0 -9.7 424 4499 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

4800 -1.50 -136.9 559.0 -8.4 434 4802 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2016 3332 0 0 0 0 0 0 28.83 28.83 28.83

5098 -1.50 -136.9 586.4 -9.4 444 5099 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3332 0 0 0 0 0 0 28.83 28.83 28.83

5398 -1.50 -136.9 615.5 -9.7 454 5400 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3333 0 0 0 0 0 0 28.83 28.83 28.83

5698 -1.50 -136.9 646.5 -10.2 464 5699 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3333 0 0 0 0 0 0 28.83 28.83 28.83

5999 -1.50 -136.9 675.4 -8.9 474 6000 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3334 0 0 0 0 0 0 28.83 28.83 28.83

6298 -1.50 -136.9 705.9 -11.4 484 6299 0.00 0.00 0.00 0.000 6 0.000 0.000 2347 2017 3334 0 0 0 0 0 0 28.83 28.83 28.83

6322 end dive: TARGET_DEPTH_EXCEEDED

state 6323 begin apogee

6349 -0.38 0.0 709.2 -11.6 485 6518 0.90 14.85 142.10 2.528 6 0.263 0.075 2590 2017 2772 0 0 6 1 0 0 14.27 13.68 12.81

6519 end apogee: CONTROL_FINISHED_OK

state 6519 begin climb

6525 1.50 136.9 716.2 0.0 491 6688 1.42 0.00 158.38 2.492 6 0.170 0.000 3005 2017 2214 0 0 0 0 0 0 13.69 28.83 12.38

6983 1.50 136.9 665.7 14.5 507 6985 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2205 0 0 0 0 0 0 28.83 28.83 28.83

7283 1.50 136.9 624.0 13.3 517 7284 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2204 0 0 0 0 0 0 28.83 28.83 28.83

7583 1.50 136.9 589.8 10.9 527 7584 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

7883 1.50 136.9 554.2 11.9 537 7885 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2203 0 0 0 0 0 0 28.83 28.83 28.83

8183 1.50 136.9 520.4 11.7 547 8184 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

8483 1.50 136.9 486.4 11.0 557 8484 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

8783 1.50 136.9 452.9 11.6 567 8784 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

9083 1.50 136.9 419.5 11.0 577 9085 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

9383 1.50 136.9 386.1 11.1 595 9389 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

9700 1.50 136.9 351.5 10.8 626 9706 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

10012 1.50 136.9 318.9 10.0 657 10018 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

10325 1.50 136.9 286.2 10.5 688 10331 0.00 0.00 0.00 0.000 6 0.000 0.000 3005 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

10638 1.50 136.9 254.9 9.5 719 10644 0.00 0.00 0.00 0.000 6 0.000 0.000 3004 2017 2202 0 0 0 0 0 0 28.83 28.83 28.83

10951 1.51 145.3 226.5 8.6 750 10963 0.00 0.00 7.07 1.809 6 0.000 0.000 3005 2017 2180 0 0 0 0 0 0 28.83 28.83 13.78

11265 1.51 148.2 198.3 8.8 782 11272 0.00 0.00 4.93 1.597 6 0.000 0.000 3005 2017 2167 0 0 0 0 0 0 28.83 28.83 13.76

11575 1.53 159.8 171.3 8.4 813 11591 0.00 0.00 13.18 1.894 6 0.000 0.000 3005 2017 2120 0 0 0 0 0 0 28.83 28.83 13.83

11896 1.54 169.5 143.4 8.5 845 11911 0.00 0.00 11.43 1.849 6 0.000 0.000 3005 2017 2080 0 0 0 0 0 0 28.83 28.83 13.78

12215 1.57 191.7 115.7 8.0 877 12231 0.00 0.00 13.50 1.750 6 0.000 0.000 3005 2017 1990 0 0 0 0 0 0 28.83 28.83 13.79

12540 1.59 207.6 89.4 8.2 921 12554 0.00 0.00 8.88 0.457 6 0.000 0.000 3004 2017 1924 0 0 0 0 0 0 28.83 28.83 14.19

12864 1.61 230.0 63.3 7.9 983 12884 0.10 0.00 12.35 0.387 6 0.181 0.000 3044 2017 1833 0 0 0 0 0 0 14.59 28.83 14.23

13199 1.63 241.7 32.9 8.4 1046 13212 0.00 0.00 6.05 0.297 6 0.000 0.000 3044 2017 1784 0 0 0 0 0 0 28.83 28.83 14.27

13524 1.63 241.7 4.7 9.9 1108 13530 0.00 0.00 0.00 0.000 6 0.000 0.000 3044 2017 1779 0 0 0 0 0 0 28.83 28.83 28.83

13540 end climb: SURFACE_DEPTH_REACHED

state 13540 begin surface coast

13571 end surface coast: CONTROL_FINISHED_OK

state 13572 begin surface

ID	193	HD_B	0.0099999998	PITCH_ADJ_GAIN	0	ALTIM_TOP_PING_RANGE	0
MISSION	2	HD_C	6.0000002e-06	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	0
DIVE	309	HEADING	-1	ROLL_MIN	300	ALTIM_TOP_TURN_MARGIN	0
N_DIVES	0	ESCAPE_HEADING	0	ROLL_MAX	3841	ALTIM_TOP_MIN_OBSTACLE	1
D_SURF	3	ESCAPE_HEADING_DELTA	10	ROLL_DEG	40	ALTIM_PING_DEPTH	0
D_FLARE	3	FIX_MISSING_TIMEOUT	0.5	C_ROLL_DIVE	2120	ALTIM_PING_DELTA	10
D_TGT	990	TGT_DEFAULT_LAT	6000	C_ROLL_CLIMB	2150	ALTIM_FREQUENCY	13
D_ABORT	1015	TGT_DEFAULT_LON	-5500	HEAD_ERRBAND	360	ALTIM_PULSE	5
D_NO_BLEED	200	TGT_AUTO_DEFAULT	0	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	1
D_BOOST	100	SM_CC	290	ROLL_TIMEOUT	15	XPDR_VALID	6
T_BOOST	0	N_FILEKB	8	R_PORT_OVSHOOT	14	XPDR_INHIBIT	90
D_FINISH	0	FILEMGR	0	R_STBD_OVSHOOT	15	INT_PRESSURE_SLOPE	0.0097660003
D_PITCH	0	CALL_NDIVES	1	ROLL_AD_RATE	20	INT_PRESSURE_YINT	0.93000001
D_SAFE	0	COMM_SEQ	0	ROLL_MAXERRORS	200	DEEPGLIDER	0
D_CALL	0	PROTOCOL	9	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
SURFACE_URGENCY	0	N_NOCOMM	1	ROLL_ADJ_DBAND	1	MOTHERBOARD	4
SURFACE_URGENCY_TRY	0	NOCOMM_ACTION	161	VBD_MIN	500	DEVICE1	2
SURFACE_URGENCY_FORCE	0	N_NOSURFACE	0	VBD_MAX	3960	DEVICE2	20
T_DIVE	370	UPLOAD_DIVES_MAX	-1	C_VBD	2772	DEVICE3	-1
T_MISSION	420	CALL_TRIES	5	VBD_DBAND	2	DEVICE4	-1
T_ABORT	1440	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_TURN	225	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_TURN_SAMPINT	5	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_NO_W	120	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_LOITER	0	T_GPS	5	VBD_PUMP_AD_RATE_APOGEE	3	LOGGERDEVICE2	-1
T_EPIRB	0	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
USE_BATHY	-2	T_GPS_ALMANAC	0	UNCOM_BLEED	20	LOGGERDEVICE4	-1
USE_ICE	0	T_GPS_CHARGE	-1651.6052	VBD_MAXERRORS	1	COMPASS_DEVICE	97
ICE_FREEZE_MARGIN	0.30000001	T_RSLEEP	3	CF8_MAXERRORS	20	COMPASS2_DEVICE	-1
D_OFFGRID	100	STROBE	0	AH0_24V	350	PHONE_DEVICE	49
T_WATCHDOG	10	RAFOS_PEAK_OFFSET	1.5	AH0_10V	0	GPS_DEVICE	32
RELAUNCH	1	RAFOS_CORR_THRESH	60	MINV_24V	12	RAFOS_DEVICE	32
APOGEE_PITCH	-5	RAFOS_HIT_WINDOW	3600	MINV_10V	12	XPDR_DEVICE	24
MAX_BUOY	140	PITCH_MIN	149	FG_AHR_10V	0	SIM_W	0
COURSE_BIAS	0	PITCH_MAX	3928	FG_AHR_24V	0	SIM_PITCH	0
GLIDE_SLOPE	50	C_PITCH	2680	PHONE_SUPPLY	-2	SEABIRD_T_G	0.0043053469
SPEED_FACTOR	1	PITCH_DBAND	0.1	PRESSURE_YINT	-48.048229	SEABIRD_T_H	0.00061871461
RHO	1.023	PITCH_CNV	0.0046000001	PRESSURE_SLOPE	0.0001163556	SEABIRD_T_I	2.1533233e-05
MASS	52000	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.1546668e-06
NAV_MODE	2	PITCH_GAIN	13	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8788214
FERRY_MAX	45	PITCH_TIMEOUT	15	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1391871
KALMAN_USE	2	PITCH_AD_RATE	175	COMPASS_USE	4	SEABIRD_C_I	-0.0018439521
HD_A	0.0043000001	PITCH_MAXERRORS	1	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00022276744

GPS1	011112,232522,6636.873,-5949.250,34,0.9,35,-33.7	TGT_NAME	TARGET_E
_CALLS	1	TGT_LATLONG	6703.000,-5648.000
_XMS_NAKs	0	TGT_RADIUS	2000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	3.37	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	-66.2	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	011112,233451,6636.809,-5949.097,8,0.9,8,-33.7	MHEAD_RNG_PITCHd_Wd	58.3,139484,-17.3,-8.919,-19.96
SPEED_LIMITS	0.075,0.246	D_GRID	709

FINISH	2.5,1.025756	_24V_AH	12.4,99.494
SM_CCo	13615,25.08,0.200,0,0,1588,290.19	_10V_AH	12.7,0.000
SM_GC	3.66,8.70,14.85,25.08,0.107,0.077,0.200,132,2017,1588,-11.62,-2.91,290.19,0,0,6,1,0,0,14.59,14.58,14.40	FG_AHR_24Vo	0.000
RAFOS_CLK	604	FG_AHR_10Vo	0.000
RAFOS	0,1351814461,0.033333,0.016944,58,55,54,54,53,50,162,195,122,211,223,142	MEM	188732
RAFOS_FIX	6648.400879,-5948.140625,021112,000022,3,96,5.23	DATA_FILE_SIZE	50097,1117
IRIDIUM_FIX	6614.97,-5945.00,011112,191921	CAP_FILE_SIZE	103705,32
TT8_MAMPS	0.025466,0.025466	CFSIZE	259252224,229539840
HUMID	46.69	ERRORS	0,0,0,0,0,0,0,0,0,3,0,0,18,0,1,0
INTERNAL_PRESSURE	8.67444	SOUNDSPEED	1451.3
TCM_TEMP	12.50	CURRENT	0.002, 37.4,1
XPDR_PINGS	4	GPS	021112,032459,6636.953,-5949.373,52,1.1,53,-33.7

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	22	445	123.53	SBE_CT	818	23	243.14
Roll_motor	59	78	57.47	SBE_O2	792	3	36.76
VBD_pump_during_apogee	377	2528	11846.06	nil	0	0	0.00
VBD_pump_during_surface	25	199	62.08	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	339	164	693.38	nil	0	0	0.00
Transponder_ping	1	420	5.21	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	9	21	2.75
TT8	2782	14	528.56
LPSleep	8335	2	244.54
TT8_Active	569	14	108.11
TT8_Sampling	1922	33	822.60
TT8_CF8	576	38	279.60
TT8_Kalman	0	0	0.00
Analog_circuits	1783	12	271.82
GPS_charging	0	0	0.00
Compass	1645	6	140.81
RAFOS	2520	1	48.01
Transponder	0	5	0.03

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors	pitch_volts	roll_volts	vbd_volts
12	end surface: CONTROL_FINISHED_OK
state	13	begin dive
19	-1.50	-136.9	0.0	0.0	0	26	0.00	0.00	-5.50	0.000	2	0.000	0.000	122	2039	1683	0	0	0	0	0	0	28.83	28.83	28.83
32	-1.50	-136.9	3.4	0.0	1	151	11.25	0.00	-104.10	0.000	6	0.445	0.000	2347	2017	3330	0	0	0	0	0	0	14.15	28.83	14.72
466	-1.50	-136.9	58.0	-15.2	81	473	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
788	-1.50	-136.9	104.8	-14.2	140	794	0.00	0.00	0.00	0.000	6	0.000	0.000	2348	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
1102	-1.50	-136.9	148.2	-14.5	171	1108	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
1415	-1.50	-136.9	190.3	-13.9	202	1420	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
1726	-1.50	-136.9	230.4	-12.8	233	1732	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
2032	-1.50	-136.9	267.7	-12.0	264	2038	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
2348	-1.50	-136.9	304.3	-11.9	295	2353	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
2654	-1.50	-136.9	339.8	-11.1	326	2660	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
2971	-1.50	-136.9	373.5	-11.5	357	2977	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
3298	-1.50	-136.9	409.7	-10.5	384	3299	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
3598	-1.50	-136.9	441.1	-10.4	394	3599	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
3898	-1.50	-136.9	473.4	-10.6	404	3900	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3331	0	0	0	0	0	0	28.83	28.83	28.83
4198	-1.50	-136.9	503.0	-9.6	414	4199	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
4498	-1.50	-136.9	532.0	-9.7	424	4499	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
4800	-1.50	-136.9	559.0	-8.4	434	4802	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2016	3332	0	0	0	0	0	0	28.83	28.83	28.83
5098	-1.50	-136.9	586.4	-9.4	444	5099	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3332	0	0	0	0	0	0	28.83	28.83	28.83
5398	-1.50	-136.9	615.5	-9.7	454	5400	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3333	0	0	0	0	0	0	28.83	28.83	28.83
5698	-1.50	-136.9	646.5	-10.2	464	5699	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3333	0	0	0	0	0	0	28.83	28.83	28.83
5999	-1.50	-136.9	675.4	-8.9	474	6000	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3334	0	0	0	0	0	0	28.83	28.83	28.83
6298	-1.50	-136.9	705.9	-11.4	484	6299	0.00	0.00	0.00	0.000	6	0.000	0.000	2347	2017	3334	0	0	0	0	0	0	28.83	28.83	28.83
6322	end dive: TARGET_DEPTH_EXCEEDED
state	6323	begin apogee
6349	-0.38	0.0	709.2	-11.6	485	6518	0.90	14.85	142.10	2.528	6	0.263	0.075	2590	2017	2772	0	0	6	1	0	0	14.27	13.68	12.81
6519	end apogee: CONTROL_FINISHED_OK
state	6519	begin climb
6525	1.50	136.9	716.2	0.0	491	6688	1.42	0.00	158.38	2.492	6	0.170	0.000	3005	2017	2214	0	0	0	0	0	0	13.69	28.83	12.38
6983	1.50	136.9	665.7	14.5	507	6985	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2205	0	0	0	0	0	0	28.83	28.83	28.83
7283	1.50	136.9	624.0	13.3	517	7284	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2204	0	0	0	0	0	0	28.83	28.83	28.83
7583	1.50	136.9	589.8	10.9	527	7584	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
7883	1.50	136.9	554.2	11.9	537	7885	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2203	0	0	0	0	0	0	28.83	28.83	28.83
8183	1.50	136.9	520.4	11.7	547	8184	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
8483	1.50	136.9	486.4	11.0	557	8484	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
8783	1.50	136.9	452.9	11.6	567	8784	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
9083	1.50	136.9	419.5	11.0	577	9085	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
9383	1.50	136.9	386.1	11.1	595	9389	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
9700	1.50	136.9	351.5	10.8	626	9706	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
10012	1.50	136.9	318.9	10.0	657	10018	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
10325	1.50	136.9	286.2	10.5	688	10331	0.00	0.00	0.00	0.000	6	0.000	0.000	3005	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
10638	1.50	136.9	254.9	9.5	719	10644	0.00	0.00	0.00	0.000	6	0.000	0.000	3004	2017	2202	0	0	0	0	0	0	28.83	28.83	28.83
10951	1.51	145.3	226.5	8.6	750	10963	0.00	0.00	7.07	1.809	6	0.000	0.000	3005	2017	2180	0	0	0	0	0	0	28.83	28.83	13.78
11265	1.51	148.2	198.3	8.8	782	11272	0.00	0.00	4.93	1.597	6	0.000	0.000	3005	2017	2167	0	0	0	0	0	0	28.83	28.83	13.76
11575	1.53	159.8	171.3	8.4	813	11591	0.00	0.00	13.18	1.894	6	0.000	0.000	3005	2017	2120	0	0	0	0	0	0	28.83	28.83	13.83
11896	1.54	169.5	143.4	8.5	845	11911	0.00	0.00	11.43	1.849	6	0.000	0.000	3005	2017	2080	0	0	0	0	0	0	28.83	28.83	13.78
12215	1.57	191.7	115.7	8.0	877	12231	0.00	0.00	13.50	1.750	6	0.000	0.000	3005	2017	1990	0	0	0	0	0	0	28.83	28.83	13.79
12540	1.59	207.6	89.4	8.2	921	12554	0.00	0.00	8.88	0.457	6	0.000	0.000	3004	2017	1924	0	0	0	0	0	0	28.83	28.83	14.19
12864	1.61	230.0	63.3	7.9	983	12884	0.10	0.00	12.35	0.387	6	0.181	0.000	3044	2017	1833	0	0	0	0	0	0	14.59	28.83	14.23
13199	1.63	241.7	32.9	8.4	1046	13212	0.00	0.00	6.05	0.297	6	0.000	0.000	3044	2017	1784	0	0	0	0	0	0	28.83	28.83	14.27
13524	1.63	241.7	4.7	9.9	1108	13530	0.00	0.00	0.00	0.000	6	0.000	0.000	3044	2017	1779	0	0	0	0	0	0	28.83	28.83	28.83
13540	end climb: SURFACE_DEPTH_REACHED
state	13540	begin surface coast
13571	end surface coast: CONTROL_FINISHED_OK
state	13572	begin surface